# Smoothig-PCL-Cpp  (70%)

> 코드는 [\[이곳\]](https://github.com/adioshun/gitBook_Tutorial_PCL/blob/master/Intermediate/Part02-Chapter06-Smoothig-PCL-Cpp.cpp)에서 다운로드 가능합니다. 샘플파일은 [\[bunny.pcd\]](https://raw.githubusercontent.com/adioshun/gitBook_Tutorial_PCL/master/Intermediate/sample/bunny.pcd)을 사용하였습니다.

```cpp
#include <pcl/point_types.h>
#include <pcl/io/pcd_io.h>
#include <pcl/kdtree/kdtree_flann.h>
#include <pcl/surface/mls.h>

int
main (int argc, char** argv)
{
  pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ> ());
  pcl::io::loadPCDFile ("bunny.pcd", *cloud);

  pcl::search::KdTree<pcl::PointXYZ>::Ptr tree (new pcl::search::KdTree<pcl::PointXYZ>);

  // Output has the PointNormal type in order to store the normals calculated by MLS
  pcl::PointCloud<pcl::PointNormal>::Ptr smoothedCloud(new pcl::PointCloud<pcl::PointNormal>);

  // Init object (second point type is for the normals, even if unused)
  pcl::MovingLeastSquares<pcl::PointXYZ, pcl::PointNormal> mls; 
  mls.setComputeNormals (true); //optional
  mls.setInputCloud (cloud);
  mls.setPolynomialOrder (2);
  mls.setSearchMethod (tree);
  mls.setSearchRadius (0.03); // Use all neighbors in a radius of 3cm.
    //filter.setPolynomialFit(true); //If true, the surface and normal are approximated using a polynomial estimation
                                   // (if false, only a tangent one).
  // Reconstruct
  mls.process (*smoothedCloud);

  // Save output
  pcl::io::savePCDFile ("bunny-mls.pcd",*smoothedCloud);
}
```


---

# Agent Instructions: Querying This Documentation

If you need additional information that is not directly available in this page, you can query the documentation dynamically by asking a question.

Perform an HTTP GET request on the current page URL with the `ask` query parameter:

```
GET https://pcl.gitbook.io/tutorial/part-2/part02-chapter06/part02-chapter06-smoothig-pcl-cpp.md?ask=<question>
```

The question should be specific, self-contained, and written in natural language.
The response will contain a direct answer to the question and relevant excerpts and sources from the documentation.

Use this mechanism when the answer is not explicitly present in the current page, you need clarification or additional context, or you want to retrieve related documentation sections.